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A Tiny Example

A three-period consumption-savings model with two regimes:

  • Working life (ages 25 and 45): The agent chooses whether to work and how much to consume. A simple tax-and-transfer system guarantees a consumption floor. Savings earn interest.

  • Retirement (age 65): Terminal regime. The agent consumes out of remaining wealth.

This notebook teaches the common GridSearch workflow, not a universal model template. If your own model needs EGM, nested EGM, or declared institutional kinks, start from the matching specialized regime and margin declarations. Make the solver-choice checkpoint before adapting the code below.

Model

An agent lives for three periods (ages 25, 45, and 65). In the first two periods (working life), the agent chooses whether to work dt∈{0,1}d_t \in \{0, 1\} and how much to consume ctc_t. In the final period (retirement), the agent consumes out of remaining wealth.

Working life (ages 25 and 45):

Vt(wt)=max⁡dt, ct{ct1−σ1−σ−ϕ dt+β Vt+1(wt+1)}V_t(w_t) = \max_{d_t,\, c_t} \left\{ \frac{c_t^{1-\sigma}}{1-\sigma} - \phi \, d_t + \beta \, V_{t+1}(w_{t+1}) \right\}

subject to

et=dt⋅wˉτ(et,wt)={θ (et−c‾)if et≥c‾min⁡(0,  wt+et−c‾)otherwiseat=wt+et−τ(et,wt)−ctwt+1=(1+r) atat≥0\begin{align} e_t &= d_t \cdot \bar{w} \\[4pt] \tau(e_t, w_t) &= \begin{cases} \theta\,(e_t - \underline{c}) & \text{if } e_t \geq \underline{c} \\ \min(0,\; w_t + e_t - \underline{c}) & \text{otherwise} \end{cases} \\[4pt] a_t &= w_t + e_t - \tau(e_t, w_t) - c_t \\[4pt] w_{t+1} &= (1 + r)\, a_t \\[4pt] a_t &\geq 0 \end{align}

where wtw_t is wealth, ete_t earnings, wˉ\bar{w} the wage, c‾\underline{c} a consumption floor guaranteed by transfers, θ\theta the tax rate, and ata_t end-of-period wealth. The transfer only kicks in when the agent’s resources (wt+etw_t + e_t) fall below the consumption floor.

Retirement (age 65, terminal):

V2(w2)=max⁡c2≤w2c21−σ1−σV_2(w_2) = \max_{c_2 \leq w_2} \frac{c_2^{1-\sigma}}{1-\sigma}

Categorical Variables

Model Functions

Regimes and Model

Parameters

Use model.get_params_template() to see what parameters the model expects, organized by regime and function. The regime-transition law belongs to the edges, so its parameters sit under the "edges" root, keyed by the source regime.

{'edges': {'working_life': {'last_working_age': 'float'}},
 'retirement': {'utility': {'risk_aversion': 'float'}},
 'working_life': {'borrowing_constraint_working': {},
                  'certainty_equivalent': {},
                  'earnings': {'wage': 'float'},
                  'end_of_period_wealth': {},
                  'koopmans_aggregator': {'discount_factor': 'FloatND'},
                  'next_wealth': {'interest_rate': 'float'},
                  'taxes_transfers': {'consumption_floor': 'float',
                                      'tax_rate': 'float'},
                  'utility': {'disutility_of_work': 'float',
                              'risk_aversion': 'float'}}}

Parameters shared across regimes (risk_aversion, discount_factor, interest_rate) can be specified at the model level. Parameters unique to one regime go under the regime name. last_working_age, read by the law next_regime, goes under "edges" and the source regime working_life.

Simulate

solve call 2312d34928ff phase public_simulate begin
INFO:lcm:solve call 2312d34928ff phase public_simulate begin
solve call 2312d34928ff phase params_validation begin
INFO:lcm:solve call 2312d34928ff phase params_validation begin
solve call 2312d34928ff phase params_validation end status=ok seconds=0.106896
INFO:lcm:solve call 2312d34928ff phase params_validation end status=ok seconds=0.106896
solve call 2312d34928ff phase simulation_inputs begin
INFO:lcm:solve call 2312d34928ff phase simulation_inputs begin
solve call 2312d34928ff phase simulation_inputs end status=ok seconds=0.377009
INFO:lcm:solve call 2312d34928ff phase simulation_inputs end status=ok seconds=0.377009
solve call 2312d34928ff phase authority_fingerprint begin
INFO:lcm:solve call 2312d34928ff phase authority_fingerprint begin
solve call 2312d34928ff phase authority_fingerprint end status=ok seconds=0.004360
INFO:lcm:solve call 2312d34928ff phase authority_fingerprint end status=ok seconds=0.004360
solve call 2312d34928ff phase solver_param_checks begin
INFO:lcm:solve call 2312d34928ff phase solver_param_checks begin
solve call 2312d34928ff phase solver_param_checks end status=ok seconds=0.000046
INFO:lcm:solve call 2312d34928ff phase solver_param_checks end status=ok seconds=0.000046
solve call 2312d34928ff phase state_action_spaces begin
INFO:lcm:solve call 2312d34928ff phase state_action_spaces begin
solve call 2312d34928ff phase state_action_spaces end status=ok seconds=0.000198
INFO:lcm:solve call 2312d34928ff phase state_action_spaces end status=ok seconds=0.000198
solve call 2312d34928ff phase continuation_templates begin
INFO:lcm:solve call 2312d34928ff phase continuation_templates begin
solve call 2312d34928ff phase continuation_templates end status=ok seconds=0.001165
INFO:lcm:solve call 2312d34928ff phase continuation_templates end status=ok seconds=0.001165
solve call 2312d34928ff phase program_graphs begin
INFO:lcm:solve call 2312d34928ff phase program_graphs begin
solve call 2312d34928ff phase program_graphs end status=ok seconds=0.000584
INFO:lcm:solve call 2312d34928ff phase program_graphs end status=ok seconds=0.000584
solve call 2312d34928ff phase structural_resolution begin
INFO:lcm:solve call 2312d34928ff phase structural_resolution begin
structural blueprint: miss (hits=0, misses=1, entries=1)
DEBUG:lcm:structural blueprint: miss (hits=0, misses=1, entries=1)
solve call 2312d34928ff phase structural_resolution end status=ok seconds=0.033923
INFO:lcm:solve call 2312d34928ff phase structural_resolution end status=ok seconds=0.033923
solve call 2312d34928ff phase residency_inventory begin
INFO:lcm:solve call 2312d34928ff phase residency_inventory begin
solve call 2312d34928ff phase residency_inventory end status=ok seconds=0.000007
INFO:lcm:solve call 2312d34928ff phase residency_inventory end status=ok seconds=0.000007
solve call 2312d34928ff phase compilation_waves begin
INFO:lcm:solve call 2312d34928ff phase compilation_waves begin
candidate evaluation ('working_life', 0, 'main') {'action_product': 64, 'cell': 16}
DEBUG:lcm:candidate evaluation ('working_life', 0, 'main') {'action_product': 64, 'cell': 16}
candidate evaluation ('working_life', 1, 'main') {'action_product': 64, 'cell': 16}
DEBUG:lcm:candidate evaluation ('working_life', 1, 'main') {'action_product': 64, 'cell': 16}
candidate evaluation ('retirement', 1, 'main') {'cell': 16}
DEBUG:lcm:candidate evaluation ('retirement', 1, 'main') {'cell': 16}
candidate evaluation ('retirement', 2, 'main') {'cell': 16}
DEBUG:lcm:candidate evaluation ('retirement', 2, 'main') {'cell': 16}
AOT compilation wave 0: 3 unique lowerings for 4 regime-period-core triples (2 workers)
INFO:lcm:AOT compilation wave 0: 3 unique lowerings for 4 regime-period-core triples (2 workers)
1/3  working_life main (age 25, widths={'action_product': 64, 'cell': 16})
INFO:lcm:1/3  working_life main (age 25, widths={'action_product': 64, 'cell': 16})
  lowering working_life main (age 25, widths={'action_product': 64, 'cell': 16}) ...
INFO:lcm:  lowering working_life main (age 25, widths={'action_product': 64, 'cell': 16}) ...
  lowered in 373.7ms
INFO:lcm:  lowered in 373.7ms
  compiling working_life main (age 25, widths={'action_product': 64, 'cell': 16}) ...
INFO:lcm:  compiling working_life main (age 25, widths={'action_product': 64, 'cell': 16}) ...
2/3  working_life main (age 45, widths={'action_product': 64, 'cell': 16})
INFO:lcm:2/3  working_life main (age 45, widths={'action_product': 64, 'cell': 16})
  lowering working_life main (age 45, widths={'action_product': 64, 'cell': 16}) ...
INFO:lcm:  lowering working_life main (age 45, widths={'action_product': 64, 'cell': 16}) ...
  lowered in 293.7ms
INFO:lcm:  lowered in 293.7ms
  compiling working_life main (age 45, widths={'action_product': 64, 'cell': 16}) ...
INFO:lcm:  compiling working_life main (age 45, widths={'action_product': 64, 'cell': 16}) ...
3/3  retirement main (age 45, widths={'cell': 16})
INFO:lcm:3/3  retirement main (age 45, widths={'cell': 16})
  lowering retirement main (age 45, widths={'cell': 16}) ...
INFO:lcm:  lowering retirement main (age 45, widths={'cell': 16}) ...
  lowered in 42.9ms
INFO:lcm:  lowered in 42.9ms
  compiled  working_life main (age 25, widths={'action_product': 64, 'cell': 16})  974.5ms
INFO:lcm:  compiled  working_life main (age 25, widths={'action_product': 64, 'cell': 16})  974.5ms
  compiling retirement main (age 45, widths={'cell': 16}) ...
INFO:lcm:  compiling retirement main (age 45, widths={'cell': 16}) ...
  compiled  retirement main (age 45, widths={'cell': 16})  209.5ms
INFO:lcm:  compiled  retirement main (age 45, widths={'cell': 16})  209.5ms
  compiled  working_life main (age 45, widths={'action_product': 64, 'cell': 16})  907.4ms
INFO:lcm:  compiled  working_life main (age 45, widths={'action_product': 64, 'cell': 16})  907.4ms
AOT compilation wave 0: 3 unique variants compiled, 0 fallback evaluations skipped, 0 fallback requests avoided
INFO:lcm:AOT compilation wave 0: 3 unique variants compiled, 0 fallback evaluations skipped, 0 fallback requests avoided
solve call 2312d34928ff phase compilation_waves end status=ok seconds=1.609609
INFO:lcm:solve call 2312d34928ff phase compilation_waves end status=ok seconds=1.609609
solve call 2312d34928ff phase workspace_selection begin
INFO:lcm:solve call 2312d34928ff phase workspace_selection begin
core plan record {"active_replica_bytes":0,"axis_extents":{"action_product":200,"cell":25},"compiled_collectives":{},"compiler_peak_bytes":971,"compiler_reservation_bytes":null,"core":"main","device_ids":[0],"dispatch":{"action_product":"streamed","cell":"streamed"},"logical_gathered_bytes":0,"logical_value_shape":[25],"period":0,"period_transfer_scratch_bytes":{},"physical_value_shape":[25],"regime":"working_life","resident_bytes":null,"selected_block":null,"state_extents":{"wealth":25},"stored_owner_bytes":{},"transfer_workspace_bytes":0,"widths":{"action_product":64,"cell":16}}
DEBUG:lcm:core plan record {"active_replica_bytes":0,"axis_extents":{"action_product":200,"cell":25},"compiled_collectives":{},"compiler_peak_bytes":971,"compiler_reservation_bytes":null,"core":"main","device_ids":[0],"dispatch":{"action_product":"streamed","cell":"streamed"},"logical_gathered_bytes":0,"logical_value_shape":[25],"period":0,"period_transfer_scratch_bytes":{},"physical_value_shape":[25],"regime":"working_life","resident_bytes":null,"selected_block":null,"state_extents":{"wealth":25},"stored_owner_bytes":{},"transfer_workspace_bytes":0,"widths":{"action_product":64,"cell":16}}
core plan record {"active_replica_bytes":0,"axis_extents":{"action_product":200,"cell":25},"compiled_collectives":{},"compiler_peak_bytes":867,"compiler_reservation_bytes":null,"core":"main","device_ids":[0],"dispatch":{"action_product":"streamed","cell":"streamed"},"logical_gathered_bytes":0,"logical_value_shape":[25],"period":1,"period_transfer_scratch_bytes":{},"physical_value_shape":[25],"regime":"working_life","resident_bytes":null,"selected_block":null,"state_extents":{"wealth":25},"stored_owner_bytes":{},"transfer_workspace_bytes":0,"widths":{"action_product":64,"cell":16}}
DEBUG:lcm:core plan record {"active_replica_bytes":0,"axis_extents":{"action_product":200,"cell":25},"compiled_collectives":{},"compiler_peak_bytes":867,"compiler_reservation_bytes":null,"core":"main","device_ids":[0],"dispatch":{"action_product":"streamed","cell":"streamed"},"logical_gathered_bytes":0,"logical_value_shape":[25],"period":1,"period_transfer_scratch_bytes":{},"physical_value_shape":[25],"regime":"working_life","resident_bytes":null,"selected_block":null,"state_extents":{"wealth":25},"stored_owner_bytes":{},"transfer_workspace_bytes":0,"widths":{"action_product":64,"cell":16}}
core plan record {"active_replica_bytes":0,"axis_extents":{"cell":25},"compiled_collectives":{},"compiler_peak_bytes":236,"compiler_reservation_bytes":null,"core":"main","device_ids":[0],"dispatch":{"cell":"streamed"},"logical_gathered_bytes":0,"logical_value_shape":[25],"period":1,"period_transfer_scratch_bytes":{},"physical_value_shape":[25],"regime":"retirement","resident_bytes":null,"selected_block":null,"state_extents":{"wealth":25},"stored_owner_bytes":{},"transfer_workspace_bytes":0,"widths":{"cell":16}}
DEBUG:lcm:core plan record {"active_replica_bytes":0,"axis_extents":{"cell":25},"compiled_collectives":{},"compiler_peak_bytes":236,"compiler_reservation_bytes":null,"core":"main","device_ids":[0],"dispatch":{"cell":"streamed"},"logical_gathered_bytes":0,"logical_value_shape":[25],"period":1,"period_transfer_scratch_bytes":{},"physical_value_shape":[25],"regime":"retirement","resident_bytes":null,"selected_block":null,"state_extents":{"wealth":25},"stored_owner_bytes":{},"transfer_workspace_bytes":0,"widths":{"cell":16}}
core plan record {"active_replica_bytes":0,"axis_extents":{"cell":25},"compiled_collectives":{},"compiler_peak_bytes":236,"compiler_reservation_bytes":null,"core":"main","device_ids":[0],"dispatch":{"cell":"streamed"},"logical_gathered_bytes":0,"logical_value_shape":[25],"period":2,"period_transfer_scratch_bytes":{},"physical_value_shape":[25],"regime":"retirement","resident_bytes":null,"selected_block":null,"state_extents":{"wealth":25},"stored_owner_bytes":{},"transfer_workspace_bytes":0,"widths":{"cell":16}}
DEBUG:lcm:core plan record {"active_replica_bytes":0,"axis_extents":{"cell":25},"compiled_collectives":{},"compiler_peak_bytes":236,"compiler_reservation_bytes":null,"core":"main","device_ids":[0],"dispatch":{"cell":"streamed"},"logical_gathered_bytes":0,"logical_value_shape":[25],"period":2,"period_transfer_scratch_bytes":{},"physical_value_shape":[25],"regime":"retirement","resident_bytes":null,"selected_block":null,"state_extents":{"wealth":25},"stored_owner_bytes":{},"transfer_workspace_bytes":0,"widths":{"cell":16}}
solve call 2312d34928ff phase workspace_selection end status=ok seconds=0.031951
INFO:lcm:solve call 2312d34928ff phase workspace_selection end status=ok seconds=0.031951
Starting solution
INFO:lcm:Starting solution
solve call 2312d34928ff phase backward_induction begin
INFO:lcm:solve call 2312d34928ff phase backward_induction begin
Age 65 (1 regimes):
INFO:lcm:Age 65 (1 regimes):
  finished in 132.0ms
INFO:lcm:  finished in 132.0ms
Age 45 (2 regimes):
INFO:lcm:Age 45 (2 regimes):
  finished in 26.0ms
INFO:lcm:  finished in 26.0ms
Age 25 (1 regimes):
INFO:lcm:Age 25 (1 regimes):
  finished in 4.6ms
INFO:lcm:  finished in 4.6ms
Inf in V_arr for 1 other state(s) for regime 'retirement', period 2 (age 65.0)
WARNING:lcm:Inf in V_arr for 1 other state(s) for regime 'retirement', period 2 (age 65.0)
Inf in V_arr for 1 other state(s) for regime 'retirement', period 1 (age 45.0)
WARNING:lcm:Inf in V_arr for 1 other state(s) for regime 'retirement', period 1 (age 45.0)
  retirement  age 65.0   V min=-inf  max=-0.283  mean=-inf
DEBUG:lcm:  retirement  age 65.0   V min=-inf  max=-0.283  mean=-inf
  working_life  age 45.0   V min=-2.35  max=-0.774  mean=-1.29
DEBUG:lcm:  working_life  age 45.0   V min=-2.35  max=-0.774  mean=-1.29
  retirement  age 45.0   V min=-inf  max=-0.283  mean=-inf
DEBUG:lcm:  retirement  age 45.0   V min=-inf  max=-0.283  mean=-inf
  working_life  age 25.0   V min=-3.42  max=-1.38  mean=-2.15
DEBUG:lcm:  working_life  age 25.0   V min=-3.42  max=-1.38  mean=-2.15
solve call 2312d34928ff phase backward_induction end status=ok seconds=0.187240
INFO:lcm:solve call 2312d34928ff phase backward_induction end status=ok seconds=0.187240
Solution complete  (188.8ms)
INFO:lcm:Solution complete  (188.8ms)
solve call 2312d34928ff phase result_assembly begin
INFO:lcm:solve call 2312d34928ff phase result_assembly begin
solve call 2312d34928ff phase result_assembly end status=ok seconds=0.003865
INFO:lcm:solve call 2312d34928ff phase result_assembly end status=ok seconds=0.003865
solve call 2312d34928ff phase solution_resolution begin
INFO:lcm:solve call 2312d34928ff phase solution_resolution begin
solve call 2312d34928ff phase solution_resolution end status=ok seconds=0.001703
INFO:lcm:solve call 2312d34928ff phase solution_resolution end status=ok seconds=0.001703
solve call 2312d34928ff phase solution_handover begin
INFO:lcm:solve call 2312d34928ff phase solution_handover begin
solve call 2312d34928ff phase solution_handover end status=ok seconds=0.000004
INFO:lcm:solve call 2312d34928ff phase solution_handover end status=ok seconds=0.000004
solve call 2312d34928ff phase chunk_planning begin
INFO:lcm:solve call 2312d34928ff phase chunk_planning begin
solve call 2312d34928ff phase chunk_planning end status=ok seconds=0.000408
INFO:lcm:solve call 2312d34928ff phase chunk_planning end status=ok seconds=0.000408
solve call 2312d34928ff phase simulation_setup begin
INFO:lcm:solve call 2312d34928ff phase simulation_setup begin
Starting simulation
INFO:lcm:Starting simulation
Simulation plan: route=legacy; 1 cpu device(s) (0,); outer chunks=1 (widths=(100,)); unbudgeted.
INFO:lcm:Simulation plan: route=legacy; 1 cpu device(s) (0,); outer chunks=1 (widths=(100,)); unbudgeted.
Simulation plan detail: route=legacy; subject_devices=(cpu) (0,); axis_widths_by_regime=[working_life: {}; retirement: {}]; outer_chunk_count=1; admitted_chunk_widths=(100,); budget_mode=unbudgeted; effective_device_memory_bytes=None; subject_grouping=None.
DEBUG:lcm:Simulation plan detail: route=legacy; subject_devices=(cpu) (0,); axis_widths_by_regime=[working_life: {}; retirement: {}]; outer_chunk_count=1; admitted_chunk_widths=(100,); budget_mode=unbudgeted; effective_device_memory_bytes=None; subject_grouping=None.
solve call 2312d34928ff phase simulation_setup end status=ok seconds=0.251097
INFO:lcm:solve call 2312d34928ff phase simulation_setup end status=ok seconds=0.251097
solve call 2312d34928ff phase simulation_chunk begin
INFO:lcm:solve call 2312d34928ff phase simulation_chunk begin
Age 25 (1 regimes):
INFO:lcm:Age 25 (1 regimes):
solve call 2312d34928ff phase simulation_compilation begin
INFO:lcm:solve call 2312d34928ff phase simulation_compilation begin
solve call 2312d34928ff phase simulation_compilation end status=ok seconds=0.608833
INFO:lcm:solve call 2312d34928ff phase simulation_compilation end status=ok seconds=0.608833
solve call 2312d34928ff phase simulation_compilation begin
INFO:lcm:solve call 2312d34928ff phase simulation_compilation begin
solve call 2312d34928ff phase simulation_compilation end status=ok seconds=0.046760
INFO:lcm:solve call 2312d34928ff phase simulation_compilation end status=ok seconds=0.046760
solve call 2312d34928ff phase simulation_compilation begin
INFO:lcm:solve call 2312d34928ff phase simulation_compilation begin
solve call 2312d34928ff phase simulation_compilation end status=ok seconds=0.032745
INFO:lcm:solve call 2312d34928ff phase simulation_compilation end status=ok seconds=0.032745
Off-grid next states: regime='working_life', target='retirement', period=0, state='wealth', phase='realized', count=0
INFO:lcm:Off-grid next states: regime='working_life', target='retirement', period=0, state='wealth', phase='realized', count=0
Off-grid next states: regime='working_life', target='working_life', period=0, state='wealth', phase='realized', count=0
INFO:lcm:Off-grid next states: regime='working_life', target='working_life', period=0, state='wealth', phase='realized', count=0
  transitions:
  - working_life → working_life = 100
DEBUG:lcm:  transitions:
  - working_life → working_life = 100
  finished in 2.1s
INFO:lcm:  finished in 2.1s
Age 45 (2 regimes):
INFO:lcm:Age 45 (2 regimes):
solve call 2312d34928ff phase simulation_compilation begin
INFO:lcm:solve call 2312d34928ff phase simulation_compilation begin
solve call 2312d34928ff phase simulation_compilation end status=ok seconds=0.389107
INFO:lcm:solve call 2312d34928ff phase simulation_compilation end status=ok seconds=0.389107
solve call 2312d34928ff phase simulation_compilation begin
INFO:lcm:solve call 2312d34928ff phase simulation_compilation begin
solve call 2312d34928ff phase simulation_compilation end status=ok seconds=0.037626
INFO:lcm:solve call 2312d34928ff phase simulation_compilation end status=ok seconds=0.037626
Off-grid next states: regime='working_life', target='retirement', period=1, state='wealth', phase='realized', count=0
INFO:lcm:Off-grid next states: regime='working_life', target='retirement', period=1, state='wealth', phase='realized', count=0
solve call 2312d34928ff phase simulation_compilation begin
INFO:lcm:solve call 2312d34928ff phase simulation_compilation begin
solve call 2312d34928ff phase simulation_compilation end status=ok seconds=0.043415
INFO:lcm:solve call 2312d34928ff phase simulation_compilation end status=ok seconds=0.043415
  transitions:
  - working_life → retirement = 100
DEBUG:lcm:  transitions:
  - working_life → retirement = 100
  finished in 826.3ms
INFO:lcm:  finished in 826.3ms
Age 65 (1 regimes):
INFO:lcm:Age 65 (1 regimes):
  transitions:
  - retirement → retirement = 100
DEBUG:lcm:  transitions:
  - retirement → retirement = 100
  finished in 66.2ms
INFO:lcm:  finished in 66.2ms
solve call 2312d34928ff phase simulation_chunk end status=ok seconds=3.038752
INFO:lcm:solve call 2312d34928ff phase simulation_chunk end status=ok seconds=3.038752
solve call 2312d34928ff phase simulation_completion begin
INFO:lcm:solve call 2312d34928ff phase simulation_completion begin
Simulation complete  (3.3s)
INFO:lcm:Simulation complete  (3.3s)
solve call 2312d34928ff phase simulation_completion end status=ok seconds=0.000640
INFO:lcm:solve call 2312d34928ff phase simulation_completion end status=ok seconds=0.000640
solve call 2312d34928ff phase simulation_result begin
INFO:lcm:solve call 2312d34928ff phase simulation_result begin
solve call 2312d34928ff phase simulation_result end status=ok seconds=0.006279
INFO:lcm:solve call 2312d34928ff phase simulation_result end status=ok seconds=0.006279
solve call 2312d34928ff phase result_finalization begin
INFO:lcm:solve call 2312d34928ff phase result_finalization begin
solve call 2312d34928ff phase result_finalization end status=ok seconds=0.000009
INFO:lcm:solve call 2312d34928ff phase result_finalization end status=ok seconds=0.000009
solve call 2312d34928ff phase public_simulate end status=ok seconds=5.706592
INFO:lcm:solve call 2312d34928ff phase public_simulate end status=ok seconds=5.706592
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